1. Automated In Vivo Navigation of Magnetic-Driven Microrobots Using OCT Imaging Feedback

    Automated In Vivo Navigation of Magnetic-Driven Microrobots Using OCT Imaging Feedback

    Objective: The application of in vivo microrobot navigation has received considerable attention from the field of precision therapy, which uses microrobots in living organisms. Methods: This study investigates the navigation of microrobots in vivo using optical coherence tomography (OCT) imaging feedback. The electromagnetic gradient field generated by a home-made electromagnetic manipulation system is magnetically modeled. With this model, the magnetic force acting on the microrobot is calculated, and the relationship between this force and the velocity of the microrobot is characterized. Results: Results are verified through in vitro experiments wherein microrobots are driven in three types of fluid, namely, normal ...

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